Programa de Doctorat en Automàtica, Robòtica i Visió: Recent submissions
Now showing items 61-80 of 140
Robust navigation for industrial service robots
Robust, reliable and safe navigation is one of the fundamental problems of robotics. Throughout the present thesis, we tackle the problem of navigation for robotic industrial mobile-bases. We identify its components and ...
Adapting robot behavior to user preferences in assistive scenarios
Robotic assistants have inspired numerous books and science fiction movies. In the real world, these kinds of devices are a growing need in amongst the elderly, who while life continue requiring more assistance. While ...
Heat pump controls to exploit the energy flexibility of building thermal loads
Smart controls for heat pumps are required to harness the full energy flexibility potential of building thermal loads. A literature review revealed that most strategies used for this purpose can be classified in two ...
Advances in state estimation, diagnosis and control of complex systems
This dissertation intends to provide theoretical and practical contributions on estimation, diagnosis and control of complex systems, especially in the mathematical form of descriptor systems. The research is motivated by ...
Non-centralized optimization-based control schemes for large-scale energy systems
Non-centralized control schemes for large-scale systems, including energy networks, are more flexible, scalable, and reliable than the centralized counterpart. These benefrts are obtained by having a set of local control!ers, ...
UAV perception for safe flight under physical interaction
The control of autonomous flying vehicles with navigation purposes is a challenging task. Complexity arises mainly due to the non-linearity and uncertainty inherently present in the flight mechanics and aircraft-air ...
Contribution to reliable control of dynamic systems
This thesis presents sorne contributions to the field of Health-Aware Control (HAC) of dynamic systems. In the first part of this thesis, a review of the concepts and methodologies related to reliability versus degradation ...
Advanced wind farm control strategies for enhancing grid support
Nowadays, there is rising concern among Transmission System Operators about the declining of system inertia due to the increasing penetration of wind energy, and other renewable energy systems, and the retirements of ...
Information metrics for localization and mapping
Decades of research have made possible the existence of several autonomous systems that successfully and efficiently navigate within a variety of environments under certain conditions. One core technology that has allowed ...
Active power sharing and frequency regulation in inverter-based islanded microgrids subject to clock drifts, damage in power links and loss of communications
Microgrids (MGs) are small-scale power systems containing storage elements, loads and distributed generators that are interfaced with the electric network via power electronic inverters. When an MG is in islanded mode, its ...
Robust leak localization in water distribution networks using machine learning techniques
This PhD thesis presents a methodology to detect, estimate and localize water leaks (with the main focus in the localization problem) in water distribution networks using hydraulic models and machine learning techniques. ...
Combining task and motion planning for mobile manipulators
This thesis addresses the combination of task and motion planning which deals with different types of robotic manipulation problems. Manipulation problems are referred to as mobile manipulation, collaborative multiple ...
Motion planning using synergies : application to anthropomorphic dual-arm robots
Motion planning is a traditional field in robotics, but new problems are nevertheless incessantly appearing, due to continuous advances in the robot developments. In order to solve these new problems, as well as to improve ...
Solving robotic kinematic problems : singularities and inverse kinematics
Kinematics is a branch of classical mechanics that describes the motion of points, bodies, and systems of bodies without considering the forces that cause such motion. For serial robot manipulators, kinematics consists of ...
Sensorimotor exploration: constraint awareness and social reinforcement in early vocal development
This research is motivated by the benefits that knowledge regarding early development in infants may provide to different fields of science. In particular, early sensorimotor exploration behaviors are studied in the framework ...
Modeling and control of PEM fuel cells
In recent years, the PEM fuel cell technology has been incorporated to the R&D plans of many key companies in the automotive, stationary power and portable electronics sectors. However, despite current developments, the ...
Designing a robot to evaluate group formations
Robots are making their way in environments inhabited by people. Whether in domestic or public crowded environments, robots should take into consideration social norms and behaviors in order to become a social robot. This ...
Advanced digital resonant control techniques for grid-connected voltage source converters
It is a fact that the presence of power distributed generation sources in the electrical sector is growing exponentially worldwide. This can mainly be explained by the increase of renewable energy production, which involves ...
Vision based sensor substitution in robotic assisted surgery
Perceiving and understanding the world represents a long-term goal in the field of Artificial Intelligence (AI). In recent years, advances in the field of Machine Learning (ML), and specifically in Deep Learning (DL), have ...
Physics-based motion planning for grasping and manipulation
This thesis develops a series of knowledge-oriented physics-based motion planning algorithms for grasping and manipulation in cluttered an uncertain environments. The main idea is to use high-level knowledge-based reasoning ...
